// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-


/// @file	limits.cpp
/// @brief	Imposes limits on location (geofence), altitude and other parameters.
///         Each limit breach will trigger an action or set of actions to recover. Adapted from geofence.
/// @author Andrew Tridgell
///         Andreas Antonopoulos

#include <AP_Limit_Altitude.h>

const AP_Param::GroupInfo AP_Limit_Altitude::var_info[] = {
	// @Param: ALT_ON
	// @DisplayName: Enable altitude
	// @Description: Setting this to Enabled(1) will enable the altitude. Setting this to Disabled(0) will disable the altitude
	// @Values: 0:Disabled,1:Enabled
	// @User: Standard
	AP_GROUPINFO("ALT_ON",	0,	AP_Limit_Altitude,	_enabled),

	// @Param: ALT_REQD
	// @DisplayName: Require altitude
	// @Description: Setting this to Enabled(1) will make being inside the altitude a required check before arming the vehicle.
	// @Values: 0:Disabled,1:Enabled
	// @User: Standard
	AP_GROUPINFO("ALT_REQ",	1,	AP_Limit_Altitude,	_required),

	// @Param: ALT_MIN
	// @DisplayName: Minimum Altitude
	// @Description: Minimum Altitude. Zero to disable. Sets a "floor" that your vehicle will try to stay above. IF the vehicle is crossing the threshold at speed, it will take a while to recover, so give yourself enough room. Caution: minimum altitude limits can cause unexpected behaviour, such as inability to land, or sudden takeoff. Read the wiki instructions before setting.
	// @Units: Meters
	// @Range: 0 250000
	// @Increment: 1
	// @User: Standard
	AP_GROUPINFO("ALT_MIN",	2,	AP_Limit_Altitude,	_min_alt),

	// @Param: ALT_MAX
	// @DisplayName: Maximum Altitude
	// @Description: Maximum Altitude. Zero to disable. Sets a "ceiling" that your vehicle will try to stay below. IF the vehicle is crossing the threshold at speed, it will take a while to recover.
	// @Units: Meters
	// @Range: 0 250000
	// @Increment: 1
	// @User: Standard
	AP_GROUPINFO("ALT_MAX",	3,	AP_Limit_Altitude,	_max_alt),
    AP_GROUPEND
};

AP_Limit_Altitude::AP_Limit_Altitude(struct Location *current_loc) :
	AP_Limit_Module(AP_LIMITS_ALTITUDE) // enabled and required
{
	_current_loc = current_loc;
}

bool AP_Limit_Altitude::triggered()
{
	_triggered = false; // reset trigger before checking

	// _max_alt is zero if disabled
	// convert _max_alt to centimeters to compare to actual altitude
	if (_max_alt > 0  && _current_loc->alt > _max_alt*100 ) {
		_triggered = true;
	}

	// _min_alt is zero if disabled
	// convert _min_alt to centimeters to compare to actual altitude
	if (_min_alt > 0 && _current_loc->alt < _min_alt*100 ) {
		_triggered = true;
	}
	return _triggered;
}

AP_Int32 AP_Limit_Altitude::max_alt() {
	return _max_alt;
}

AP_Int32 AP_Limit_Altitude::min_alt() {
	return _min_alt;
}

